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公开(公告)号：US20160235028A1
公开(公告)日：2016-08-18
申请号：US15136460
申请日：2016-04-22
Applicant: TECHNOLOGIES HOLDINGS CORP
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/007 , A01J5/0175 , A01K1/01 , A01K1/0103 , A01K1/12 , A01K5/02 , A01K11/006 , G05B2219/45094
Abstract: A milking box comprises a stall portion having a longitudinal axis. A backplane is positioned in the stall portion and moves toward the rear of the stall portion along the longitudinal axis in response to pressure applied, and toward the front of the stall portion in response to pressure removed. A robotic attacher extends from the rear of the stall portion and between the hind legs of a dairy livestock. A controller determines the position of the backplane relative to the rear of the stall portion and determines a positional offset that increases as the dairy livestock moves toward the front of the stall and decreases as it moves toward the rear of the stall. The controller further communicates a signal to move the robotic attacher along the longitudinal axis. The amount of movement is determined at least in part according to the positional offset.
Abstract translation: 挤奶箱包括具有纵向轴线的失速部分。 背板位于失速部分中，并且响应于施加的压力而沿着纵向轴线朝向失速部分的后部移动，并且响应于去除的压力朝向失速部分的前部移动。 一名机器人护卫员从摊档部分的后部延伸出来，并在奶牛家畜的后腿之间延伸。 控制器确定背板相对于失速部分的后部的位置，并且确定当乳品牲畜向失速的前方移动时增加的位置偏移，并且随着朝向档位的后方移动而减小。 控制器进一步传送信号以使机器人附件沿着纵向轴线移动。 移动量至少部分地根据位置偏移确定。
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公开(公告)号：US09374979B2
公开(公告)日：2016-06-28
申请号：US14921066
申请日：2015-10-23
Applicant: TECHNOLOGIES HOLDINGS CORP
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/007 , A01J5/0175 , A01K1/01 , A01K1/0103 , A01K1/12 , A01K5/02 , A01K11/006 , G05B2219/45094
Abstract: A milking box comprises a stall portion and a backplane positioned in the stall portion. The backplane moves toward the rear of the stall portion in response to pressure applied to a contact surface of the backplane. The backplane moves toward the front of stall portion in response to pressure removed from the contact surface. A robotic attacher extends from the rear of the stall portion and between the hind legs of a dairy livestock located in the stall portion. A controller determines the position of the backplane relative to the rear of the stall portion. The controller determines an x-offset based at least in part upon the position of the backplane relative to the rear of the stall portion, wherein the x-offset increases as the dairy livestock moves toward the front of the stall and the x-offset decreases as the dairy livestock moves toward the rear of the stall. The controller further communicates a signal to move the robotic attacher in an x-direction, the amount of movement determined at least in part according to the x-offset.
Abstract translation: 挤奶箱包括失速部分和位于失速部分中的背板。 响应于施加到背板的接触表面的压力，背板向失速部分的后部移动。 响应于从接触表面移除的压力，底板向失速部分的前部移动。 一个机器人的附属装置从档位部分的后部和位于档位部分的一个奶牛家畜的后腿之间延伸。 控制器确定背板相对于失速部分的后部的位置。 控制器至少部分地基于背板相对于失速部分的后部的位置来确定x偏移，其中x偏移随着奶牛家畜向失速的前方移动而增加，并且x偏移减小 因为奶牛家畜向档位的后方移动。 所述控制器进一步传达信号以沿x方向移动所述机器人附件，所述移动量至少部分地根据所述x偏移确定。
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公开(公告)号：US20160044887A1
公开(公告)日：2016-02-18
申请号：US14921350
申请日：2015-10-23
Applicant: TECHNOLOGIES HOLDINGS CORP
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01J5/007 , A01J7/00 , A01J7/025 , A01K1/12 , A01K13/003 , G05B15/02 , G05B2219/2661 , G05B2219/45113 , Y10S901/02 , Y10S901/40 , Y10S901/47
Abstract: A robotic attacher retrieves cups from the right side of an equipment area located behind a dairy livestock and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching a first cup to the right front teat, a second cup to the left front teat, a third cup to the right rear teat, and a fourth cup to the left rear teat.
Abstract translation: 机器人服务员从位于奶牛家畜后面的设备区域的右侧检索杯子，并将杯子依次附着在奶牛的奶头上。 该顺序包括将第一杯连接到右前乳头，将第二杯连接到左前乳头，将第三杯连接到右后奶头，将第四杯连接到左后奶头。
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公开(公告)号：US09253959B2
公开(公告)日：2016-02-09
申请号：US14184206
申请日：2014-02-19
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01J5/007 , A01J7/00 , A01J7/025 , A01K1/12 , A01K13/003 , G05B15/02 , G05B2219/2661 , G05B2219/45113 , Y10S901/02 , Y10S901/40 , Y10S901/47
Abstract: A robotic attacher retrieves cups from the left side of an equipment area located behind a dairy livestock and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching a first cup to the left front teat, a second cup to the right front teat, a third cup to the left rear teat, and a fourth cup to the right rear teat.
Abstract translation: 机器人服务员从位于奶牛家畜后面的设备区域的左侧检索杯子，并将杯子依次连接到奶牛家畜的奶嘴上。 该顺序包括将第一杯连接到左前乳头，向右前乳头的第二杯，向左后奶头的第三杯，向右后奶头连接第四杯。
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公开(公告)号：US20150379705A1
公开(公告)日：2015-12-31
申请号：US14842874
申请日：2015-09-02
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: G06T7/0004 , A01J5/007 , A01J5/0175 , A01K29/005 , G06K9/52 , G06T7/20 , G06T7/593 , G06T7/70 , G06T2207/10028 , G06T2207/30108 , G06T2207/30128 , H04N7/18 , H04N7/183 , H04N13/204 , H04N13/271 , H04N2013/0081
Abstract: A system for processing an image comprises a three-dimensional camera that captures an image of a dairy livestock and a processor communicatively coupled to the three-dimensional camera. The processor accesses a first pixel having a first depth location, a second pixel having a second depth location, and a third pixel having a third depth location. The processor determines that the second pixel is an outlier among the first pixel and the third pixel based upon the first depth location, the second depth location, and the third depth location, and discards the second pixel from the image based at least in part upon the determination.
Abstract translation: 用于处理图像的系统包括捕获奶牛家畜的图像的三维照相机和通信地耦合到三维照相机的处理器。 处理器访问具有第一深度位置的第一像素，具有第二深度位置的第二像素和具有第三深度位置的第三像素。 处理器基于第一深度位置，第二深度位置和第三深度位置确定第二像素是第一像素和第三像素中的异常值，并且至少部分地基于来自图像的第二像素丢弃 决心。
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Patent Agency Ranking
公开(公告)号：US20150228068A1
公开(公告)日：2015-08-13
申请号：US14695279
申请日：2015-04-24
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: G06T7/0004 , A01J5/007 , A01J5/0175 , A01K29/005 , G06K9/52 , G06T7/20 , G06T7/593 , G06T7/70 , G06T2207/10028 , G06T2207/30108 , G06T2207/30128 , H04N7/18 , H04N7/183 , H04N13/204 , H04N13/271 , H04N2013/0081
Abstract: A system for processing an image comprises a three-dimensional camera that captures an image of a dairy livestock. A processor is communicatively coupled to the three-dimensional camera. The processor accesses a first pixel having a first depth location, and a second pixel having a second depth location. The processor determines that the second depth location is not within a threshold distance of the first depth location, and discards the second pixel from the image based at least in part upon the determination.
Abstract translation: 用于处理图像的系统包括捕获奶牛家畜图像的三维照相机。 处理器通信地耦合到三维相机。 处理器访问具有第一深度位置的第一像素，以及具有第二深度位置的第二像素。 处理器确定第二深度位置不在第一深度位置的阈值距离内，并且至少部分地基于确定从图像中丢弃第二像素。
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公开(公告)号：US10602712B2
公开(公告)日：2020-03-31
申请号：US14644784
申请日：2015-03-11
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: An apparatus comprises a cup holder bracket and a cup holder. The cup holder bracket comprises a hinge that allows the cup holder bracket to pivot between a substantially horizontal position when closed to a substantially vertical position when opened. The cup holder is coupled to the cup holder bracket and comprises a rimmed structure configured to hold an attachment end of a cup when the cup holder bracket is closed.
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公开(公告)号：US10349618B2
公开(公告)日：2019-07-16
申请号：US16206839
申请日：2018-11-30
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A method includes housing a dairy livestock in a stall portion of a milking box and retrieving, by a robotic attacher, a cup. For each of a plurality of teats of a dairy livestock, the method further uses the robotic arm to perform the steps of attaching the cup to the teat, detaching the cup from the teat, and maintaining the cup within the stall portion of the milking box from the time that the cup is attached to the first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The method concludes by retracting the cup into an equipment area of the milking box after detaching the cup from the last teat of the dairy livestock.
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公开(公告)号：US10127446B2
公开(公告)日：2018-11-13
申请号：US14843219
申请日：2015-09-02
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A system comprises a memory operable to store first light intensity information for a first pixel of an image that includes a dairy livestock, and second light intensity information for a second pixel of the image, wherein the second pixel is adjacent to the first pixel. The system further comprises a processor communicatively coupled to the memory and operable to determine that a difference between the first light intensity information and the second light intensity information exceeds a threshold, and discard one of the first pixel or the second pixel from the image.
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公开(公告)号：US09980458B2
公开(公告)日：2018-05-29
申请号：US15240289
申请日：2016-08-18
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A system includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track from a first linear position to a second linear position, and a controller. The controller determines a movement of a milking stall of the rotary milking platform from a first rotational position to a second rotational position. The controller further determines the second linear position of the robot carriage on the carriage track corresponding to the movement of the milking stall of the rotary milking platform. The controller also communicates a position signal to a carriage actuator coupled to the robot carriage and the carriage track. The position signal causes the carriage actuator to move the robot carriage along the carriage track from the first linear position to the second linear position in conjunction with the movement of the rotary milking platform.
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